RESEARCH OF FLIGHT PLANNING METHODS OF UNMANNED AERIAL VEHICLES IN COMPLEX FLIGHT CONDITIONS FOR MONITORING THE STATE OF CRITICAL INFRASTRUCTURE ELEMENTS

Abstract

Relevance. The vast majority of modern UAV flight path planning algorithms designed for real-time onboard application do not take into account UAV dynamics, which negatively affects the accuracy and optimality of route planning, especially when tracking moving objects. Object of research: processes of monitoring critical infrastructure elements with UAVs. Purpose of the article. evaluation of methods for flight planners of unmanned aerial vehicles in difficult flight conditions for monitoring the condition of critical infrastructure elements. Research results. The article presents a comparative analysis of existing methods for constructing a UAV flight route during the observation of objects - elements of critical infrastructure objects, namely the exhaustive search method and the greedy algorithm with the improved algorithm proposed by the author. When modeling the emulation of the UAV flight using the MATLAB package, twenty scenarios were developed. For each scenario, a list of five objects to be monitored was selected. The objects were selected as dynamic and stationary. Based on the analysis of the considered scenarios, conclusions were formulated about the effectiveness of the improved method. Conclusions. The routes constructed using the improved method completely coincided with the routes constructed using the exhaustive search method. At the same time, the calculation time is significantly lower than the existing methods, which allows using the improved algorithm as part of the on-board software complex and quickly constructing and changing the route depending on the situation with respect to the monitored objects. Using an identifier in the control system circuit to compensate for the influence of the wind allows reducing the flight time along the route by 15%.